A PDF export of a UV map is basically just a template to help you create a bitmap texture - it shows you which bits of your texture will be mapped to which polygons on your model.
To use it try the following...
1) create your UV map in Cheetah3D, then export as a PDF.
2) Open the PDF in photoshop - you can choose the size (eg 512x512 pixels) during the parsing process. The image of your UV map should appear on a transparent background.
3) You want to use this UV image as a guide for your texture, so make a new layer and move it below your UV layer.
4) Paint your texture on the new layer, using the UV layer to help get things in the right place.
5) Turn off (or delete) the UV layer before saving your texture as a JPEG.
6) Back in Cheetah, make a new material for your object, and set the material's texture to be your JPEG file.
7) Apply your material to your object, et voilà!
(this is from memory, so I hope I haven't missed anything...)